Search results
Results from the WOW.Com Content Network
There are mainly two kinds of methods to model the unilateral constraints. The first kind is based on smooth contact dynamics, including methods using Hertz's models, penalty methods, and some regularization force models, while the second kind is based on the non-smooth contact dynamics, which models the system with unilateral contacts as variational inequalities.
The elastic half-space problem is solved analytically, see the Boussinesq-Cerruti solution. Due to the linearity of this approach, multiple partial solutions may be super-imposed. Using the fundamental solution for the half-space, the full 3D contact problem is reduced to a 2D problem for the bodies' bounding surfaces.
A starting point for solving contact problems is to understand the effect of a "point-load" applied to an isotropic, homogeneous, and linear elastic half-plane, shown in the figure to the right. The problem may be either plane stress or plane strain. This is a boundary value problem of linear elasticity subject to the traction boundary conditions:
In classical mechanics, the Udwadia–Kalaba formulation is a method for deriving the equations of motion of a constrained mechanical system. [1] [2] The method was first described by Anatolii Fedorovich Vereshchagin [3] [4] for the particular case of robotic arms, and later generalized to all mechanical systems by Firdaus E. Udwadia and Robert E. Kalaba in 1992. [5]
Three examples of nonholonomic constraints are: [12] when the constraint equations are non-integrable, when the constraints have inequalities, or when the constraints involve complicated non-conservative forces like friction. Nonholonomic constraints require special treatment, and one may have to revert to Newtonian mechanics or use other ...
Unilateral constraints and Coulomb-friction can also be used to model frictional contacts between bodies. [1] Multibody simulation is a useful tool for conducting motion analysis. It is often used during product development to evaluate characteristics of comfort, safety, and performance. [ 2 ]
The two-body problem is solved by formulas involving parameters; their values can be changed to study the class of all solutions, that is, the mathematical structure of the problem. Moreover, an accurate mental or drawn picture can be made for the motion of two bodies, and it can be as real and accurate as the real bodies moving and interacting.
In this system the box slides down a slope, the constraint is that the box must remain on the slope (it cannot go through it or start flying). In classical mechanics, a constraint on a system is a parameter that the system must obey. For example, a box sliding down a slope must remain on the slope.